Added:

Software serial:

This allows you to use ANY GPIO pins (with modififcation) as serial. Probably best to stay at 9600 baud, as the receive interrupt is serviced at 8x the bitrate.

Sensor reading:

It reads the original serial data (9 bit) from the original sensor boards from USART2&3.

Sensor control:

Sensor data can control the PWM demands (power to the wheels). Double tap on pads to enable.

Serial diagnostic control:

Protocol.c implements a simple ASCII serial protocol which allows for manual control of the board.

Serial Machine control:

Protocol.c implements the bones of an acked/checksummed serial protocol. Embryonic as yet, but intended to be a generic control protocol for the hoverboard.

PID Control:

PID control loops for control of Speed (in mm/sec) and Position (in mm). Currently separate control modes, and parameter need better tuning.

Hall Interupts:

Used to read Position and Speed data.

Flash settings:

Implements a flash page available for efficitent storage of parameters (currently unused, but tested).

Should work with original control settings (in config.h), but not tested...

Hardware

The original Hardware supports two 4-pin cables that originally were connected to the two sensor boards. They break out GND, 12/15V and USART2&3 of the Hoverboard mainboard. Both USART2 & 3 can be used for UART and I2C, PA2&3 can be used as 12bit ADCs.

The reverse-engineered schematics of the mainboard can be found here: http://vocke.tv/lib/exe/fetch.php?media=20150722_hoverboard_sch.pdf

Building and flashing

The repository uses a submodule for the serial protocol. Clone with submodules: ´git clone --recurse-submodules´ Or afterwards: ´git submodule update --init --recursive´

Take a look at our wiki

Any other problems?

First take a look at our wiki and open issues, if you still have any problem/question, feel free to open a new issue!

lalalandrus/hoverboard-firmware